A Formal Model of a MultiRobot Control and Communication Task
WeintroducetheComputationandControlLanguage(CCL),aguarded-commandlanguageforexpressingsystemswhereincontrolandcomputationareinter-twined.ACCLprogramconsistsofasetofguardedcommandsthatmayupdatecontinuousordiscretevari-ablesandthatcanbereasonedaboutusingasimpletemporallogic.Inthispap
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